Head to the camp's headquarters and examine the riftstone. Next, head to the encampment's gate to trigger a scene. Head to the marker and exit the encampment to find the beast. Slay it, along with its goblin minions then report back to the rifstone.

After reporting, you can now customize your main pawn. This is your main companion throughout your journey. When setting up this pawn, make sure that you create someone that can cover your weakness. If you're a melee fighter, having a mage for healing and long-ranged attacks seems to be a reasonable choice.

After setting up your pawn's appearance, you'll be asked a few questions to determine your main pawn's inclination. Answer these questions with your preference then select your main pawn's vocation. This pawn will be your main pawn and from here on, you can hire pawns to aid you in battle. This will also complete this quest.